In this paper, a real-time hand detection and tracking system is proposed. A calibrated stereo vision system is used to obtain disparity images and real world coordinates are available by geometry transformation. Unlike other pixel-based shape detector that edge information is necessary, the proposed convex shape detector, which is based on real world coordinates, is applied directly in depth images to detect hands regardless of distance. Around waving gesture recognition and simple hand tracking are also implemented in this work. The acceptable accuracy of the proposed system is examined in verification process. Experimental results of hand detection and tracking prove the robustness and the feasibility of the proposed method.
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